Determination of an absolute initial position of a vehicle

Abstract

To determine an absolute position of a vehicle, the vehicle is moved along a trajectory starting from the absolute initial position. The trajectory is sensed by odometry starting from a defined initial position, which is associated with the absolute initial position. Three objects are detected from the vehicle which is on the trajectory. At each detection, a detection beam is sensed. The trajectory with the detection beams are matched with a map. Finally, the absolute initial position is determined from the matching.

1 . A method for determining an absolute initial position of a vehicle, comprising:
 moving the vehicle, starting from the absolute initial position, along a trajectory,   sensing the trajectory by odometry, starting from a defined initial position, which is associated with the absolute initial position,   detecting three objects, from the vehicle located on the trajectory, wherein upon each detection a detection beam is sensed,   matching the sensed trajectory, including the sensed detection beams, with a digital map in which the three objects are represented with their respective absolute positions, to determine a position of the defined initial position relative to the objects, and   determining the absolute initial position based on the position of the defined initial position relative to the objects.   
     
     
         2 . The method according to  claim 1 , wherein an associated orientation to the absolute initial position of the vehicle is also obtained from the matching. 
     
     
         3 . The method according to  claim 1 , wherein the odometry is an optical odometry, a radar odometry or a wheel odometry. 
     
     
         4 . The method according to  claim 1 , wherein at least one of the objects is detected multiple times. 
     
     
         5 . The method according to  claim 1 , wherein the detection of the three objects is performed by optical detection, radar detection and/or ultrasonic detection. 
     
     
         6 . The method according to  claim 1 , wherein the matching comprises a generalized PnP method. 
     
     
         7 . The method according to  claim 1 , wherein the matching comprises a generalized P3P method. 
     
     
         8 . The method according to  claim 1 , wherein the detection beams are transformed into 3D beams during the transformation. 
     
     
         9 . A method for determining a current position of a vehicle, comprising:
 determining an absolute initial position of the vehicle, including:
 moving the vehicle, starting from the absolute initial position, along a trajectory, 
 sensing the trajectory by odometry, starting from a defined initial position, which is associated with the absolute initial position, 
 detecting three objects, from the vehicle located on the trajectory, wherein upon each detection a detection beam is sensed, 
 matching the sensed trajectory, including the sensed detection beams, with a digital map in which the three objects are represented with their respective absolute positions, to determine a position of the defined initial position relative to the objects, and 
 determining the absolute initial position based on the position of the defined initial position relative to the objects; and 
   obtaining the current position starting from the initial position by odometry and/or by camera-based localization.   
     
     
         10 . An apparatus for determining an absolute initial position of a vehicle, comprising:
 a sensor for sensing a trajectory by odometry starting from a defined initial position, wherein the sensor is movable along the trajectory starting from the absolute initial position,   a detection device for detecting three objects from the detection device, which is located on the trajectory, wherein a detection beam is sensed at each detection,   a matching system configured to match the sensed trajectory including the sensed detection beams with a digital map, in which the three objects with their respective absolute positions are represented, for determination of a location of the defined initial position relative to the objects,   a transformation device for transforming the sensed detection beams into respective transformed beams which are related to the defined initial position, and   a determination system configured to determine the absolute initial position from the transformed beams by triangulation or trilateration based on the location of the defined initial position relative to the objects.   
     
     
         11 . A vehicle with a device for determining an absolute initial position of the vehicle, the device comprising:
 a sensor for sensing a trajectory by odometry starting from a defined initial position, wherein the sensor is movable along the trajectory starting from the absolute initial position,   a detection device for detecting three objects from the detection device, which is located on the trajectory, wherein a detection beam is sensed at each detection,   a matching system configured to match the sensed trajectory including the sensed detection beams with a digital map, in which the three objects with their respective absolute positions are represented, for determination of a location of the defined initial position relative to the objects,   a transformation device for transforming the sensed detection beams into respective transformed beams which are related to the defined initial position, and   a determination system configured to determine the absolute initial position from the transformed beams by triangulation or trilateration based on the location of the defined initial position relative to the objects.